Commit f312ab2d authored by Henrik Brix Andersen's avatar Henrik Brix Andersen Committed by Anas Nashif
Browse files

tests: drivers: can: fold the CAN-FD tests into the main API tests 



Fold the CAN-FD specific tests into the main CAN API tests and stop
treating the CAN-FD API functionality as an add-on to CAN API.

Signed-off-by: default avatarHenrik Brix Andersen <hebad@vestas.com>
parent 1c8f1cd5

tests/drivers/can/api/CMakeLists.txt

+2 −2
Original line number Diff line number Diff line
@@ -4,5 +4,5 @@ cmake_minimum_required(VERSION 3.20.0) 
find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})

project(integration)



FILE(GLOB app_sources src/*.c)

target_sources(app PRIVATE ${app_sources})
 
target_sources(app PRIVATE src/classic.c)

target_sources_ifdef(CONFIG_CAN_FD_MODE app PRIVATE src/canfd.c)

tests/drivers/can/api/prj.conf

+3 −0
Original line number Diff line number Diff line 
CONFIG_CAN=y

CONFIG_CAN_FD_MODE=y

CONFIG_CAN_AUTO_BUS_OFF_RECOVERY=n

CONFIG_TEST_USERSPACE=y

CONFIG_ZTEST=y

CONFIG_ZTEST_NEW_API=y

# The canfd test suite may be skipped

CONFIG_ZTEST_VERIFY_RUN_ALL=n

tests/drivers/can/canfd/src/main.c→tests/drivers/can/api/src/canfd.c

+29 −40
Original line number Diff line number Diff line
@@ -45,27 +45,12 @@ static const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbu 
static struct k_sem rx_callback_sem;

static struct k_sem tx_callback_sem;



CAN_MSGQ_DEFINE(can_msgq, 5);

extern struct k_msgq can_msgq;



/**

 * @brief Standard (11-bit) CAN ID frame 1.

 */

const struct can_frame test_std_frame_1 = {

	.flags   = 0,

	.id      = TEST_CAN_STD_ID_1,

	.dlc     = 8,

	.data    = { 1, 2, 3, 4, 5, 6, 7, 8 }

};



/**

 * @brief Standard (11-bit) CAN ID frame 2.

 */

const struct can_frame test_std_frame_2 = {

	.flags   = 0,

	.id      = TEST_CAN_STD_ID_2,

	.dlc     = 8,

	.data    = { 1, 2, 3, 4, 5, 6, 7, 8 }

};

extern const struct can_frame test_std_frame_1;

extern const struct can_frame test_std_frame_2;

extern const struct can_filter test_std_filter_1;

extern const struct can_filter test_std_filter_2;



/**

 * @brief Standard (11-bit) CAN ID frame 1 with CAN-FD payload.
@@ -95,24 +80,6 @@ const struct can_frame test_std_frame_fd_2 = { 
		    61, 62, 63, 64 }

};



/**

 * @brief Standard (11-bit) CAN ID filter 1.

 */

const struct can_filter test_std_filter_1 = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_STD_ID_1,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN ID filter 2.

 */

const struct can_filter test_std_filter_2 = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_STD_ID_2,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN-FD ID filter 1.

 */
@@ -424,6 +391,28 @@ ZTEST_USER(canfd, test_set_timing_data_while_started) 
	zassert_equal(err, -EBUSY, "wrong error return code (err %d)", err);

}



static bool canfd_predicate(const void *state)

{

	can_mode_t cap;

	int err;



	ARG_UNUSED(state);



	if (!device_is_ready(can_dev)) {

		TC_PRINT("CAN device not ready");

		return false;

	}



	err = can_get_capabilities(can_dev, &cap);

	zassert_equal(err, 0, "failed to get CAN controller capabilities (err %d)", err);



	if ((cap & CAN_MODE_FD) == 0) {

		return false;

	}



	return true;

}



void *canfd_setup(void)

{

	int err;
@@ -431,7 +420,7 @@ void *canfd_setup(void) 
	k_sem_init(&rx_callback_sem, 0, 2);

	k_sem_init(&tx_callback_sem, 0, 2);



	zassert_true(device_is_ready(can_dev), "CAN device not ready");

	(void)can_stop(can_dev);



	err = can_set_mode(can_dev, CAN_MODE_LOOPBACK | CAN_MODE_FD);

	zassert_equal(err, 0, "failed to set CAN-FD loopback mode (err %d)", err);
@@ -442,4 +431,4 @@ void *canfd_setup(void) 
	return NULL;

}



ZTEST_SUITE(canfd, NULL, canfd_setup, NULL, NULL, NULL);
 
ZTEST_SUITE(canfd, canfd_predicate, canfd_setup, NULL, NULL, NULL);

tests/drivers/can/api/src/main.c→tests/drivers/can/api/src/classic.c

+38 −36
Original line number Diff line number Diff line
@@ -11,7 +11,7 @@ 
/**

 * @addtogroup t_can_driver

 * @{

 * @defgroup t_can_api test_can_api

 * @defgroup t_can_classic test_can_classic

 * @}

 */
@@ -676,7 +676,7 @@ void send_receive_rtr(const struct can_filter *data_filter, 
/**

 * @brief Test getting the CAN core clock rate.

 */

ZTEST_USER(can_api, test_get_core_clock)

ZTEST_USER(can_classic, test_get_core_clock)

{

	uint32_t rate;

	int err;
@@ -689,7 +689,7 @@ ZTEST_USER(can_api, test_get_core_clock) 
/**

 * @brief Test getting the CAN controller capabilities.

 */

ZTEST_USER(can_api, test_get_capabilities)

ZTEST_USER(can_classic, test_get_capabilities)

{

	can_mode_t cap;

	int err;
@@ -714,7 +714,7 @@ static void state_change_callback(const struct device *dev, enum can_state state 
/**

 * @brief Test setting the CAN state change callback.

 */

ZTEST(can_api, test_set_state_change_callback)

ZTEST(can_classic, test_set_state_change_callback)

{

	/* It is not possible to provoke a change of state, but test the API call */

	can_set_state_change_callback(can_dev, state_change_callback, NULL);
@@ -724,7 +724,7 @@ ZTEST(can_api, test_set_state_change_callback) 
/**

 * @brief Test setting a too high bitrate.

 */

ZTEST_USER(can_api, test_set_bitrate_too_high)

ZTEST_USER(can_classic, test_set_bitrate_too_high)

{

	uint32_t max;

	int err;
@@ -750,7 +750,7 @@ ZTEST_USER(can_api, test_set_bitrate_too_high) 
/**

 * @brief Test setting bitrate.

 */

ZTEST_USER(can_api, test_set_bitrate)

ZTEST_USER(can_classic, test_set_bitrate)

{

	int err;
@@ -770,7 +770,7 @@ ZTEST_USER(can_api, test_set_bitrate) 
 * This basic test work since the CAN controller is in loopback mode and

 * therefore ACKs its own frame.

 */

ZTEST_USER(can_api, test_send_and_forget)

ZTEST_USER(can_classic, test_send_and_forget)

{

	send_test_frame(can_dev, &test_std_frame_1);

}
@@ -780,7 +780,7 @@ ZTEST_USER(can_api, test_send_and_forget) 
 *

 * Test each filter type but only one filter at a time.

 */

ZTEST(can_api, test_add_filter)

ZTEST(can_classic, test_add_filter)

{

	int filter_id;
@@ -852,7 +852,7 @@ static void add_remove_max_filters(bool ide) 
/**

 * @brief Test max standard (11-bit) CAN RX filters.

 */

ZTEST_USER(can_api, test_max_std_filters)

ZTEST_USER(can_classic, test_max_std_filters)

{

	add_remove_max_filters(false);

}
@@ -860,7 +860,7 @@ ZTEST_USER(can_api, test_max_std_filters) 
/**

 * @brief Test max extended (29-bit) CAN RX filters.

 */

ZTEST_USER(can_api, test_max_ext_filters)

ZTEST_USER(can_classic, test_max_ext_filters)

{

	add_remove_max_filters(true);

}
@@ -868,7 +868,7 @@ ZTEST_USER(can_api, test_max_ext_filters) 
/**

 * @brief Test that no message is received when nothing was sent.

 */

ZTEST_USER(can_api, test_receive_timeout)

ZTEST_USER(can_classic, test_receive_timeout)

{

	struct can_frame frame;

	int filter_id;
@@ -885,7 +885,7 @@ ZTEST_USER(can_api, test_receive_timeout) 
/**

 * @brief Test that transmit callback function is called.

 */

ZTEST(can_api, test_send_callback)

ZTEST(can_classic, test_send_callback)

{

	int err;
@@ -900,7 +900,7 @@ ZTEST(can_api, test_send_callback) 
/**

 * @brief Test send/receive with standard (11-bit) CAN IDs.

 */

ZTEST(can_api, test_send_receive_std_id)

ZTEST(can_classic, test_send_receive_std_id)

{

	send_receive(&test_std_filter_1, &test_std_filter_2,

		     &test_std_frame_1, &test_std_frame_2);
@@ -909,7 +909,7 @@ ZTEST(can_api, test_send_receive_std_id) 
/**

 * @brief Test send/receive with extended (29-bit) CAN IDs.

 */

ZTEST(can_api, test_send_receive_ext_id)

ZTEST(can_classic, test_send_receive_ext_id)

{

	send_receive(&test_ext_filter_1, &test_ext_filter_2,

		     &test_ext_frame_1, &test_ext_frame_2);
@@ -918,7 +918,7 @@ ZTEST(can_api, test_send_receive_ext_id) 
/**

 * @brief Test send/receive with standard (11-bit) masked CAN IDs.

 */

ZTEST(can_api, test_send_receive_std_id_masked)

ZTEST(can_classic, test_send_receive_std_id_masked)

{

	send_receive(&test_std_masked_filter_1, &test_std_masked_filter_2,

		     &test_std_frame_1, &test_std_frame_2);
@@ -927,7 +927,7 @@ ZTEST(can_api, test_send_receive_std_id_masked) 
/**

 * @brief Test send/receive with extended (29-bit) masked CAN IDs.

 */

ZTEST(can_api, test_send_receive_ext_id_masked)

ZTEST(can_classic, test_send_receive_ext_id_masked)

{

	send_receive(&test_ext_masked_filter_1, &test_ext_masked_filter_2,

		     &test_ext_frame_1, &test_ext_frame_2);
@@ -936,7 +936,7 @@ ZTEST(can_api, test_send_receive_ext_id_masked) 
/**

 * @brief Test send/receive with messages buffered in a CAN message queue.

 */

ZTEST_USER(can_api, test_send_receive_msgq)

ZTEST_USER(can_classic, test_send_receive_msgq)

{

	struct k_msgq_attrs attrs;

	struct can_frame frame;
@@ -976,7 +976,7 @@ ZTEST_USER(can_api, test_send_receive_msgq) 
/**

 * @brief Test send/receive with standard (11-bit) CAN IDs and remote transmission request (RTR).

 */

ZTEST_USER(can_api, test_send_receive_std_id_rtr)

ZTEST_USER(can_classic, test_send_receive_std_id_rtr)

{

	send_receive_rtr(&test_std_filter_1, &test_std_rtr_filter_1,

			 &test_std_frame_1, &test_std_rtr_frame_1);
@@ -985,7 +985,7 @@ ZTEST_USER(can_api, test_send_receive_std_id_rtr) 
/**

 * @brief Test send/receive with extended (29-bit) CAN IDs and remote transmission request (RTR).

 */

ZTEST_USER(can_api, test_send_receive_ext_id_rtr)

ZTEST_USER(can_classic, test_send_receive_ext_id_rtr)

{

	send_receive_rtr(&test_ext_filter_1, &test_ext_rtr_filter_1,

			 &test_ext_frame_1, &test_ext_rtr_frame_1);
@@ -994,7 +994,7 @@ ZTEST_USER(can_api, test_send_receive_ext_id_rtr) 
/**

 * @brief Test that non-matching CAN frames do not pass a filter.

 */

ZTEST(can_api, test_send_receive_wrong_id)

ZTEST(can_classic, test_send_receive_wrong_id)

{

	struct can_frame frame_buffer;

	int filter_id;
@@ -1013,7 +1013,7 @@ ZTEST(can_api, test_send_receive_wrong_id) 
/**

 * @brief Test that frames with invalid Data Length Code (DLC) are rejected.

 */

ZTEST_USER(can_api, test_send_invalid_dlc)

ZTEST_USER(can_classic, test_send_invalid_dlc)

{

	struct can_frame frame = {0};

	int err;
@@ -1028,7 +1028,7 @@ ZTEST_USER(can_api, test_send_invalid_dlc) 
/**

 * @brief Test that CAN-FD format frames are rejected in non-FD mode.

 */

ZTEST_USER(can_api, test_send_fd_format)

ZTEST_USER(can_classic, test_send_fd_format)

{

	int err;
@@ -1039,7 +1039,7 @@ ZTEST_USER(can_api, test_send_fd_format) 
/**

 * @brief Test CAN controller bus recovery.

 */

ZTEST_USER(can_api, test_recover)

ZTEST_USER(can_classic, test_recover)

{

	int err;
@@ -1055,7 +1055,7 @@ ZTEST_USER(can_api, test_recover) 
/**

 * @brief Test retrieving the state of the CAN controller.

 */

ZTEST_USER(can_api, test_get_state)

ZTEST_USER(can_classic, test_get_state)

{

	struct can_bus_err_cnt err_cnt;

	enum can_state state;
@@ -1077,7 +1077,7 @@ ZTEST_USER(can_api, test_get_state) 
/**

 * @brief Test that CAN RX filters are preserved through CAN controller mode changes.

 */

ZTEST_USER(can_api, test_filters_preserved_through_mode_change)

ZTEST_USER(can_classic, test_filters_preserved_through_mode_change)

{

	struct can_frame frame;

	enum can_state state;
@@ -1119,7 +1119,7 @@ ZTEST_USER(can_api, test_filters_preserved_through_mode_change) 
/**

 * @brief Test that CAN RX filters are preserved through CAN controller bitrate changes.

 */

ZTEST_USER(can_api, test_filters_preserved_through_bitrate_change)

ZTEST_USER(can_classic, test_filters_preserved_through_bitrate_change)

{

	struct can_frame frame;

	enum can_state state;
@@ -1161,7 +1161,7 @@ ZTEST_USER(can_api, test_filters_preserved_through_bitrate_change) 
/**

 * @brief Test that CAN RX filters can be added while CAN controller is stopped.

 */

ZTEST_USER(can_api, test_filters_added_while_stopped)

ZTEST_USER(can_classic, test_filters_added_while_stopped)

{

	struct can_frame frame;

	int filter_id;
@@ -1187,7 +1187,7 @@ ZTEST_USER(can_api, test_filters_added_while_stopped) 
/**

 * @brief Test stopping is not allowed while stopped.

 */

ZTEST_USER(can_api, test_stop_while_stopped)

ZTEST_USER(can_classic, test_stop_while_stopped)

{

	int err;
@@ -1205,7 +1205,7 @@ ZTEST_USER(can_api, test_stop_while_stopped) 
/**

 * @brief Test starting is not allowed while started.

 */

ZTEST_USER(can_api, test_start_while_started)

ZTEST_USER(can_classic, test_start_while_started)

{

	int err;
@@ -1217,7 +1217,7 @@ ZTEST_USER(can_api, test_start_while_started) 
/**

 * @brief Test recover is not allowed while started.

 */

ZTEST_USER(can_api, test_recover_while_stopped)

ZTEST_USER(can_classic, test_recover_while_stopped)

{

	int err;
@@ -1235,7 +1235,7 @@ ZTEST_USER(can_api, test_recover_while_stopped) 
/**

 * @brief Test sending is not allowed while stopped.

 */

ZTEST_USER(can_api, test_send_while_stopped)

ZTEST_USER(can_classic, test_send_while_stopped)

{

	int err;
@@ -1253,7 +1253,7 @@ ZTEST_USER(can_api, test_send_while_stopped) 
/**

 * @brief Test setting bitrate is not allowed while started.

 */

ZTEST_USER(can_api, test_set_bitrate_while_started)

ZTEST_USER(can_classic, test_set_bitrate_while_started)

{

	int err;
@@ -1265,7 +1265,7 @@ ZTEST_USER(can_api, test_set_bitrate_while_started) 
/**

 * @brief Test setting timing is not allowed while started.

 */

ZTEST_USER(can_api, test_set_timing_while_started)

ZTEST_USER(can_classic, test_set_timing_while_started)

{

	struct can_timing timing;

	int err;
@@ -1283,7 +1283,7 @@ ZTEST_USER(can_api, test_set_timing_while_started) 
/**

 * @brief Test setting mode is not allowed while started.

 */

ZTEST_USER(can_api, test_set_mode_while_started)

ZTEST_USER(can_classic, test_set_mode_while_started)

{

	int err;
@@ -1292,7 +1292,7 @@ ZTEST_USER(can_api, test_set_mode_while_started) 
	zassert_equal(err, -EBUSY, "wrong error return code (err %d)", err);

}



void *can_api_setup(void)

void *can_classic_setup(void)

{

	int err;
@@ -1304,6 +1304,8 @@ void *can_api_setup(void) 


	zassert_true(device_is_ready(can_dev), "CAN device not ready");



	(void)can_stop(can_dev);



	err = can_set_mode(can_dev, CAN_MODE_LOOPBACK);

	zassert_equal(err, 0, "failed to set loopback mode (err %d)", err);
@@ -1313,4 +1315,4 @@ void *can_api_setup(void) 
	return NULL;

}



ZTEST_SUITE(can_api, NULL, can_api_setup, NULL, NULL, NULL);
 
ZTEST_SUITE(can_classic, NULL, can_classic_setup, NULL, NULL, NULL);

tests/drivers/can/canfd/CMakeLists.txt

deleted100644 → 0
+0 −8
Original line number Diff line number Diff line 
# SPDX-License-Identifier: Apache-2.0



cmake_minimum_required(VERSION 3.20.0)

find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})

project(integration)



FILE(GLOB app_sources src/*.c)

target_sources(app PRIVATE ${app_sources})

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